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<div class="title">EncoderMotorController Class Reference</div>  </div>
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<p><code>#include &lt;<a class="el" href="_encoder_motor_controller_8hpp_source.html">EncoderMotorController.hpp</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for EncoderMotorController:</div>
<div class="dyncontent">
 <div class="center">
  <img src="class_encoder_motor_controller.png" usemap="#EncoderMotorController_map" alt=""/>
  <map id="EncoderMotorController_map" name="EncoderMotorController_map">
<area href="class_pid_motor_controller.html" alt="PidMotorController" shape="rect" coords="79,56,228,80"/>
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 </div></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a476507fccf3996a16f7e049af8be6caa"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a476507fccf3996a16f7e049af8be6caa"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>EncoderMotorController</b> (boost::shared_ptr&lt; SpeedController &gt; motor, boost::shared_ptr&lt; Encoder &gt; encoder, float period=0.05)</td></tr>
<tr class="separator:a476507fccf3996a16f7e049af8be6caa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac718536487ebaf7a5661f6d106bcd4ea"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac718536487ebaf7a5661f6d106bcd4ea"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>EncoderMotorController</b> (boost::shared_ptr&lt; SpeedController &gt; motor, UINT32 encoderChannelA, UINT32 encoderChannelB, bool encoderReverseDirection=false, float period=0.05)</td></tr>
<tr class="separator:ac718536487ebaf7a5661f6d106bcd4ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae44337dc1d0fa88e7a8a1c52fbbedd56"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_encoder_motor_controller.html#ae44337dc1d0fa88e7a8a1c52fbbedd56">EncoderMotorController</a> (SpeedController *motor, Encoder *encoder, float period=0.05)</td></tr>
<tr class="separator:ae44337dc1d0fa88e7a8a1c52fbbedd56"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac5e271ac849ab7b170dfc0b101b4fcbb"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_encoder_motor_controller.html#ac5e271ac849ab7b170dfc0b101b4fcbb">EncoderMotorController</a> (SpeedController *motor, UINT32 encoderChannelA, UINT32 encoderChannelB, bool encoderReverseDirection=false, float period=0.05)</td></tr>
<tr class="separator:ac5e271ac849ab7b170dfc0b101b4fcbb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a09908e1b592d44c015a7727c9a0d2347"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_encoder_motor_controller.html#a09908e1b592d44c015a7727c9a0d2347">EncoderMotorController</a> (SpeedController &amp;motor, Encoder &amp;encoder, float period=0.05)</td></tr>
<tr class="separator:a09908e1b592d44c015a7727c9a0d2347"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aafcc81dc498be689a653a12784f4e697"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_encoder_motor_controller.html#aafcc81dc498be689a653a12784f4e697">EncoderMotorController</a> (SpeedController &amp;motor, UINT32 encoderChannelA, UINT32 encoderChannelB, bool encoderReverseDirection=false, float period=0.05)</td></tr>
<tr class="separator:aafcc81dc498be689a653a12784f4e697"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9178f02fb11f9483f58b2e183855df90"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_encoder_motor_controller.html#a9178f02fb11f9483f58b2e183855df90">Set</a> (float value, UINT8 syncGroup=0)</td></tr>
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<tr class="memitem:a249e6853027a2634373fe85bac1eaa1d"><td class="memItemLeft" align="right" valign="top">virtual float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_encoder_motor_controller.html#a249e6853027a2634373fe85bac1eaa1d">Get</a> ()</td></tr>
<tr class="separator:a249e6853027a2634373fe85bac1eaa1d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af68232d15fd9e415029fa288445c687d"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_encoder_motor_controller.html#af68232d15fd9e415029fa288445c687d">GetVBus</a> ()</td></tr>
<tr class="separator:af68232d15fd9e415029fa288445c687d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab1190239ea19ba8cca90ba0b973a3f93"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_encoder_motor_controller.html#ab1190239ea19ba8cca90ba0b973a3f93">GetSpeed</a> ()</td></tr>
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<tr class="memitem:a03960c90c7f38d94d8e7b5234d6edd80"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_encoder_motor_controller.html#a03960c90c7f38d94d8e7b5234d6edd80">Enable</a> (double initialEncoderPosition)</td></tr>
<tr class="separator:a03960c90c7f38d94d8e7b5234d6edd80"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="separator:a0f29b77718fb150f484aef04f55bf158"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a03f8200c4067751112ffcf3f31885a05"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000">ControlMode</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_encoder_motor_controller.html#a03f8200c4067751112ffcf3f31885a05">GetControlMode</a> ()</td></tr>
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<tr class="memitem:a070daf843ba72f0bc8fca42a00557c85"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_encoder_motor_controller.html#a070daf843ba72f0bc8fca42a00557c85">SetControlMode</a> (<a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000">ControlMode</a> mode)</td></tr>
<tr class="separator:a070daf843ba72f0bc8fca42a00557c85"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9c58bd48fb4d416ab132b3ae35367e11"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_encoder_motor_controller.html#a9c58bd48fb4d416ab132b3ae35367e11">SetEncodersCodesPerRevolution</a> (UINT16 codesPerRevolution)</td></tr>
<tr class="separator:a9c58bd48fb4d416ab132b3ae35367e11"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a38618c4eac712a8a99eb1af4052b7bd9"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_encoder_motor_controller.html#a38618c4eac712a8a99eb1af4052b7bd9">SetPid</a> (double p, double i, double d)</td></tr>
<tr class="separator:a38618c4eac712a8a99eb1af4052b7bd9"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="memitem:a01614b9738f296c3b8a93e04828ad4da"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_encoder_motor_controller.html#a01614b9738f296c3b8a93e04828ad4da">InitTable</a> (ITable *subtable)</td></tr>
<tr class="separator:a01614b9738f296c3b8a93e04828ad4da"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab16237b1f4a3e49cc725f7670b5f8329"><td class="memItemLeft" align="right" valign="top">virtual ITable *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_encoder_motor_controller.html#ab16237b1f4a3e49cc725f7670b5f8329">GetTable</a> ()</td></tr>
<tr class="separator:ab16237b1f4a3e49cc725f7670b5f8329"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab79480abdc49326005cfe97954ee1c2a"><td class="memItemLeft" align="right" valign="top">virtual std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_encoder_motor_controller.html#ab79480abdc49326005cfe97954ee1c2a">GetSmartDashboardType</a> ()</td></tr>
<tr class="separator:ab79480abdc49326005cfe97954ee1c2a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a619fe4b5c3a9c30bcbcabfdd56b5b5cb"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_encoder_motor_controller.html#a619fe4b5c3a9c30bcbcabfdd56b5b5cb">UpdateTable</a> ()</td></tr>
<tr class="separator:a619fe4b5c3a9c30bcbcabfdd56b5b5cb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adaffe3e473477714456979687b5d49ba"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_encoder_motor_controller.html#adaffe3e473477714456979687b5d49ba">StartLiveWindowMode</a> ()</td></tr>
<tr class="separator:adaffe3e473477714456979687b5d49ba"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab5f44b0310a5ed2590daa646b70843f4"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_encoder_motor_controller.html#ab5f44b0310a5ed2590daa646b70843f4">StopLiveWindowMode</a> ()</td></tr>
<tr class="separator:ab5f44b0310a5ed2590daa646b70843f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_class_pid_motor_controller"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_class_pid_motor_controller')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_pid_motor_controller.html">PidMotorController</a></td></tr>
<tr class="memitem:a086b084fef771d37614d6b22a907d6a3 inherit pub_methods_class_pid_motor_controller"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_motor_controller.html#a086b084fef771d37614d6b22a907d6a3">PIDWrite</a> (float output)</td></tr>
<tr class="separator:a086b084fef771d37614d6b22a907d6a3 inherit pub_methods_class_pid_motor_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af2c5353a5de95fba5f18806eb6334441 inherit pub_methods_class_pid_motor_controller"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_motor_controller.html#af2c5353a5de95fba5f18806eb6334441">PIDGet</a> ()</td></tr>
<tr class="separator:af2c5353a5de95fba5f18806eb6334441 inherit pub_methods_class_pid_motor_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3fc5e3c934175105d0b41eeb606fe326 inherit pub_methods_class_pid_motor_controller"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_motor_controller.html#a3fc5e3c934175105d0b41eeb606fe326">SetPid</a> (<a class="el" href="struct_pid_motor_controller_1_1_pid.html">Pid</a> pid)</td></tr>
<tr class="separator:a3fc5e3c934175105d0b41eeb606fe326 inherit pub_methods_class_pid_motor_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pub_types_class_pid_motor_controller"><td colspan="2" onclick="javascript:toggleInherit('pub_types_class_pid_motor_controller')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="class_pid_motor_controller.html">PidMotorController</a></td></tr>
<tr class="memitem:a13eddfb79a251f572067f2e2f214b000 inherit pub_types_class_pid_motor_controller"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000">ControlMode</a> { <br/>
&#160;&#160;<a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000ac0237a20da41d0e3e0d8580f80ef4c04">PercentVBus</a> = CANJaguar::kPercentVbus, 
<a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000a943fee08c50fe4d9b9b34fb8e876b46f">Speed</a> = CANJaguar::kSpeed, 
<a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000ace273af498d1fda861939cfa5969ac0d">Position</a> = CANJaguar::kPosition, 
<a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000ae344611d419ee7d0db9e299783c77497">Voltage</a> = CANJaguar::kVoltage, 
<br/>
&#160;&#160;<a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000a7b7f434ca2ce980d197feccc28e7bfa1">Current</a> = CANJaguar::kCurrent
<br/>
 }</td></tr>
<tr class="separator:a13eddfb79a251f572067f2e2f214b000 inherit pub_types_class_pid_motor_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>The <a class="el" href="class_encoder_motor_controller.html">EncoderMotorController</a> class pairs a SpeedController and an Encoder into a <a class="el" href="class_pid_motor_controller.html">PidMotorController</a> so FPK can use PID-dependent features like Speed and Position/Distance control. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="ae44337dc1d0fa88e7a8a1c52fbbedd56"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">EncoderMotorController::EncoderMotorController </td>
          <td>(</td>
          <td class="paramtype">SpeedController *&#160;</td>
          <td class="paramname"><em>motor</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Encoder *&#160;</td>
          <td class="paramname"><em>encoder</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>period</em> = <code>0.05</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>Constructor for <a class="el" href="class_encoder_motor_controller.html">EncoderMotorController</a>.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">motor</td><td>A pointer to the SpeedController. </td></tr>
    <tr><td class="paramname">encoder</td><td>A pointer to the Encoder. </td></tr>
    <tr><td class="paramname">period</td><td>The desired time between PID loops in seconds </td></tr>
  </table>
  </dd>
</dl>

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          <td>(</td>
          <td class="paramtype">SpeedController *&#160;</td>
          <td class="paramname"><em>motor</em>, </td>
        </tr>
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          <td class="paramkey"></td>
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          <td class="paramtype">UINT32&#160;</td>
          <td class="paramname"><em>encoderChannelA</em>, </td>
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          <td class="paramtype">UINT32&#160;</td>
          <td class="paramname"><em>encoderChannelB</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>encoderReverseDirection</em> = <code>false</code>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>period</em> = <code>0.05</code>&#160;</td>
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        <tr>
          <td></td>
          <td>)</td>
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        </tr>
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<p>Constructor for <a class="el" href="class_encoder_motor_controller.html">EncoderMotorController</a>.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">motor</td><td>A pointer to the SpeedController. </td></tr>
    <tr><td class="paramname">encoderChannelA</td><td>The first channel number of the encoder. </td></tr>
    <tr><td class="paramname">encoderChannelB</td><td>The second channel number of the encoder. </td></tr>
    <tr><td class="paramname">encoderReverseDirection</td><td>If the encoder is reversed. </td></tr>
    <tr><td class="paramname">period</td><td>The desired time between PID loops in seconds </td></tr>
  </table>
  </dd>
</dl>

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          <td>(</td>
          <td class="paramtype">SpeedController &amp;&#160;</td>
          <td class="paramname"><em>motor</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">Encoder &amp;&#160;</td>
          <td class="paramname"><em>encoder</em>, </td>
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        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>period</em> = <code>0.05</code>&#160;</td>
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<p>Constructor for <a class="el" href="class_encoder_motor_controller.html">EncoderMotorController</a>.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">motor</td><td>A reference to the SpeedController. </td></tr>
    <tr><td class="paramname">encoder</td><td>A reference to the Encoder. </td></tr>
    <tr><td class="paramname">period</td><td>The desired time between PID loops in seconds </td></tr>
  </table>
  </dd>
</dl>

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          <td class="paramtype">SpeedController &amp;&#160;</td>
          <td class="paramname"><em>motor</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">UINT32&#160;</td>
          <td class="paramname"><em>encoderChannelA</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">UINT32&#160;</td>
          <td class="paramname"><em>encoderChannelB</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
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          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>encoderReverseDirection</em> = <code>false</code>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
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          <td class="paramname"><em>period</em> = <code>0.05</code>&#160;</td>
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          <td></td>
          <td>)</td>
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<p>Constructor for <a class="el" href="class_encoder_motor_controller.html">EncoderMotorController</a>.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">motor</td><td>A reference to the SpeedController. </td></tr>
    <tr><td class="paramname">encoderChannelA</td><td>The first channel number of the encoder. </td></tr>
    <tr><td class="paramname">encoderChannelB</td><td>The second channel number of the encoder. </td></tr>
    <tr><td class="paramname">encoderReverseDirection</td><td>If the encoder is reversed. </td></tr>
    <tr><td class="paramname">period</td><td>The desired time between PID loops in seconds </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">void EncoderMotorController::Disable </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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<p>Disable the motor and the internal PID loop. </p>

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          <td class="memname">void EncoderMotorController::Enable </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>initialEncoderPosition</em></td><td>)</td>
          <td></td>
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      </table>
  </td>
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<p>Enable the motor and the internal PID loop.</p>
<p>If the parameter initialEncoderPosition is passed, the current position should be treated as initialEncoderPosition.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">initialEncoderPosition</td><td>The initial position of the motor. </td></tr>
  </table>
  </dd>
</dl>

<p>Implements <a class="el" href="class_pid_motor_controller.html#a43fd491df57bc20e6f54ff7bf561cb4a">PidMotorController</a>.</p>

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          <td class="memname">float EncoderMotorController::Get </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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<p>Gets the current value of the motor.</p>
<p>What it gets depends on the currently set ControlMode.</p>
<dl class="section return"><dt>Returns</dt><dd>The current value of the motor. </dd></dl>

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          <td class="memname"><a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000">PidMotorController::ControlMode</a> EncoderMotorController::GetControlMode </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
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<p>Get the current ControlMode that the motor is in.</p>
<dl class="section return"><dt>Returns</dt><dd>The current ControlMode. </dd></dl>

<p>Implements <a class="el" href="class_pid_motor_controller.html#a79f8cbc8e9eb867722cd0cf7eb12772a">PidMotorController</a>.</p>

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          <td class="memname">double EncoderMotorController::GetD </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Get the current D value</p>
<dl class="section return"><dt>Returns</dt><dd>The current D value. </dd></dl>

<p>Implements <a class="el" href="class_pid_motor_controller.html#a6d40a6d4c2cbb8d34babee2fb9f5c098">PidMotorController</a>.</p>

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          <td class="memname">double EncoderMotorController::GetI </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Get the current I value</p>
<dl class="section return"><dt>Returns</dt><dd>The current I value. </dd></dl>

<p>Implements <a class="el" href="class_pid_motor_controller.html#aff6dea3afe08690864c68b4962535fd1">PidMotorController</a>.</p>

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          <td class="memname">double EncoderMotorController::GetP </td>
          <td>(</td>
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<p>Get the current P value</p>
<dl class="section return"><dt>Returns</dt><dd>The current P value. </dd></dl>

<p>Implements <a class="el" href="class_pid_motor_controller.html#ac78e406263f408dbf96b8c36e6e27e46">PidMotorController</a>.</p>

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          <td class="memname">double EncoderMotorController::GetPosition </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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<p>Get the current position in units of rotations that the motor has reached since motor was enabled.</p>
<dl class="section return"><dt>Returns</dt><dd>The current position of the motor. </dd></dl>

<p>Implements <a class="el" href="class_pid_motor_controller.html#aed237a512f0edbdc968d2a89932ba8aa">PidMotorController</a>.</p>

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          <td class="memname">std::string EncoderMotorController::GetSmartDashboardType </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Get the string representing the named data type of the PID loop controller object.</p>
<p>Unless you use NetworkTables, don't worry about this function.</p>
<dl class="section return"><dt>Returns</dt><dd>The string representing the named data type of the PID loop controller object. </dd></dl>

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          <td class="memname">double EncoderMotorController::GetSpeed </td>
          <td>(</td>
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<p>Get the current speed that the motor is running in rotations per second.</p>
<dl class="section return"><dt>Returns</dt><dd>The current speed of the motor in rotations per second. </dd></dl>

<p>Implements <a class="el" href="class_pid_motor_controller.html#a694ac2d6827967e8449b8d8cfd4f67b0">PidMotorController</a>.</p>

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          <td class="memname">ITable * EncoderMotorController::GetTable </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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<p>Get the table associated the PID loop controller object's table.</p>
<p>Unless you use NetworkTables, don't worry about this function.</p>
<dl class="section return"><dt>Returns</dt><dd>The table associated the PID loop controller object's table. </dd></dl>

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          <td class="memname">double EncoderMotorController::GetVBus </td>
          <td>(</td>
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<p>Gets the percentage of voltage sent to the motor where 1 represents 100%.</p>
<dl class="section return"><dt>Returns</dt><dd>The percentage of voltage sent to the motor where 1 represents 100%. </dd></dl>

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          <td class="memname">void EncoderMotorController::InitTable </td>
          <td>(</td>
          <td class="paramtype">ITable *&#160;</td>
          <td class="paramname"><em>subtable</em></td><td>)</td>
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<p>Initializes the PID loop controller object's table.</p>
<p>Unless you use NetworkTables, don't worry about this function.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">subtable</td><td>The table to put values in. </td></tr>
  </table>
  </dd>
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          <td class="memname">void EncoderMotorController::Set </td>
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          <td class="paramname"><em>value</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">UINT8&#160;</td>
          <td class="paramname"><em>syncGroup</em> = <code>0</code>&#160;</td>
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          <td>)</td>
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<p>Set the value of the motor.</p>
<p>What it sets depends on the currently set ControlMode.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">value</td><td>The target value. </td></tr>
    <tr><td class="paramname">syncGroup</td><td>Not applicable for this derived class. (The default value of this parameter will work fine.) </td></tr>
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          <td class="memname">void EncoderMotorController::SetControlMode </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="class_pid_motor_controller.html#a13eddfb79a251f572067f2e2f214b000">PidMotorController::ControlMode</a>&#160;</td>
          <td class="paramname"><em>mode</em></td><td>)</td>
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<p>Set the ControlMode immediately.</p>
<p>Warning: <a class="el" href="struct_any.html">Any</a> ControlMode passed other than PercentVBus, Speed, or Position will throw the controlMode parameter as an exception.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">mode</td><td>The desired ControlMode. </td></tr>
  </table>
  </dd>
</dl>

<p>Implements <a class="el" href="class_pid_motor_controller.html#a2bf9cf6c4eb2c98e7af07d10f408762a">PidMotorController</a>.</p>

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          <td class="memname">void EncoderMotorController::SetEncodersCodesPerRevolution </td>
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          <td class="paramname"><em>codesPerRevolution</em></td><td>)</td>
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<p>Set the number of encoder codes per revolution.</p>
<p>Specify the number of encoder "codes" it takes to complete a revolution.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">codesPerRevolution</td><td>The number of encoder codes per revolution. </td></tr>
  </table>
  </dd>
</dl>

<p>Implements <a class="el" href="class_pid_motor_controller.html#a648fbdb1ddb88b255398a63f7c875d40">PidMotorController</a>.</p>

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          <td class="memname">void EncoderMotorController::SetPid </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>p</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>i</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>d</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
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  </td>
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<p>Set the P, I, and D values.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">p</td><td>The P value. </td></tr>
    <tr><td class="paramname">i</td><td>The I value. </td></tr>
    <tr><td class="paramname">d</td><td>The D value. </td></tr>
  </table>
  </dd>
</dl>

<p>Implements <a class="el" href="class_pid_motor_controller.html#aeaa9df6864320c7aadbd1759223fea17">PidMotorController</a>.</p>

</div>
</div>
<a class="anchor" id="adaffe3e473477714456979687b5d49ba"></a>
<div class="memitem">
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  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void EncoderMotorController::StartLiveWindowMode </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
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<p>Start Live Window mode for the PID loop controller object.</p>
<p>Unless you use LiveWindow, don't worry about this function. </p>

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      <table class="memname">
        <tr>
          <td class="memname">void EncoderMotorController::StopLiveWindowMode </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
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<p>Stop Live Window mode for the PID loop controller object.</p>
<p>Unless you use LiveWindow, don't worry about this function. </p>

</div>
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          <td class="memname">void EncoderMotorController::UpdateTable </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
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<p>Update the table associated the PID loop controller object's table.</p>
<p>Unless you use NetworkTables, don't worry about this function. </p>

</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>C:/Users/Sam/Projects/FRC/Libraries/Fpk/Entech-Fpk-Subscribers/Entech-Fpk/Actuators/<a class="el" href="_encoder_motor_controller_8hpp_source.html">EncoderMotorController.hpp</a></li>
<li>C:/Users/Sam/Projects/FRC/Libraries/Fpk/Entech-Fpk-Subscribers/Entech-Fpk/Actuators/EncoderMotorController.cpp</li>
</ul>
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